There are many publicly available datasets for research into perception for autonomous and assisted driving. The most popular is the KITTI dataset [1]}, using cameras and a Velodyne HDL-64e LiDAR to provide data for several tasks, such as object detection and tracking, odometry and semantic segmentation. Although widely used as a benchmark, data was captured only in good weather and appears now as rather small scale.
Waymo [2]} and Argo [3]} are automotive datasets which are larger than KITTI and provide more data variability. Some data was collected in the rain and at night although adverse weather is not their main research focus. Foggy Cityscapes [4]} developed a synthetic foggy dataset aimed at object recognition tasks but only images are provided.
All these datasets use only optical sensors.
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